Hello, fellow robot people!
Do you know if there is a system variable which allows to monitor the actual angular lag for each axis?
I'm using this function to set the torque limitation for a given axis, together with the allowed max angular lag, but how can we monitor the actual lag?
Code
GLOBAL DEF limit_torque(ax:IN,range:IN, lag:IN)
INT ax
REAL range, lag
DECL TorqLimitParam limits
IF range>0 THEN
limits.monitor = #OFF
limits.max_lag= lag
limits.max_vel= 400
limits.lower = -$TORQUE_AXIS_MAX[ax]*(range/100)
limits.upper = $TORQUE_AXIS_MAX[ax]*(range/100)
SET_TORQUE_LIMITS(ax, limits)
ENDIF
ENDdiglo!
